With increased urbanization, the Aerial Work Platform (AWP), particularly those with long booms and superelevation, is more vital in this process. Aerial work platforms placed a higher emphasis on building, firefighting, and protecting people's lives and property.
To begin, a similar section design might be derived by researching the primary performance parameters and design principles of the shape of structures and working specifications of modern series aerial work items. Second, similar boom section designs are derivated and analyzed using the linear small deformation and nonlinear large deformation analysis methods respectively.
Consider the following example: the developed model must be smaller than the original. Full geometry similar design, similar design of equal stress between design model and prototype model, and similarity design of same stress in design model are all carried out, with the forces, stress, and deformation of risky sections discussed. Forces, stress, and deformation of the nonlinear similar design are somewhat larger than those of the linear design, which is intended to be dangerous. The stress in the model of nonlinear geometry identical design is greater than in the original model, indicating that the design result is irrational. Adjusting the section specifications of each boom can result in a final design with a stress similarity ratio.
Second, AWP completes the intended movement using a different-level motion control approach. The first level of control for platform motion from work to joint space focuses on redundant degree of freedom design. A simplified AWP model is created, and its Jacobian matrix relative to the base frame is calculated. With the least Euler norm as the aim, the inverse kinematics problem of redundant degrees of freedom is handled using the dividing Jacobian matrix approach, which takes into account the limit positions and velocities of telescopic and luffing motion. As a result, the analysis algorithm has been programmed. The motion planning in this level establishes the groundwork for the subsequent hydraulic cylinder-driven space control method.
An analytical technique is presented for determining the mapping relationship between joint space and cylinder driven space, which includes the feature of multi-layer synchronous telescoping for prismatic joints and the cylinder driving feature for revolute joints. Concrete functioning parameters for a hydraulic control system could be determined appropriately.
Due to the system design and motion analysis needs, we investigated the professional design platform known as AWP Design and Analysis System. Using typical design prototypes, the software integrates the process from boom section design to boom deformation and stress analysis, then to hierarchical control for work platform trajectory planning, and finally to hydraulic cylinder motion error analysis. It serves as a quick and efficient computation tool for AWPs, from general scheme design to detailed structure design. Individual aspects of the design process, such as boom section similarity, platform trajectory planning, and hydraulic cylinder assembly tolerance analysis, are described.